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<div class="title">hdl_grabber.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012,2015 The MITRE Corporation</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
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<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &quot;pcl/pcl_config.h&quot;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_IO_HDL_GRABBER_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_IO_HDL_GRABBER_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/io/grabber.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/io/impl/synchronized_queue.hpp&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;boost/asio.hpp&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#define HDL_Grabber_toRadians(x) ((x) * M_PI / 180.0)</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html">   60</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_h_d_l_grabber.html">HDLGrabber</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_grabber.html">Grabber</a></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  {</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#ae9b341480c6622fc1e8bb4dc8574a369">   66</a></span>&#160;      <span class="keyword">typedef</span> void</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      (sig_cb_velodyne_hdl_scan_point_cloud_xyz) (<span class="keyword">const</span> boost::shared_ptr&lt;const pcl::PointCloud&lt;pcl::PointXYZ&gt; &gt;&amp;,</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;                                                  float,</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;                                                  float);</div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#ab2285e4f41eff01a3f9664eba8329adb">   73</a></span>&#160;      <span class="keyword">typedef</span> void</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      (sig_cb_velodyne_hdl_scan_point_cloud_xyzrgb) (<span class="keyword">const</span> boost::shared_ptr&lt;const pcl::PointCloud&lt;pcl::PointXYZRGBA&gt; &gt;&amp;,</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                                                     float,</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                                                     float);</div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#a224d08bb2e152f985d1b0f47ee6605d2">   80</a></span>&#160;      <span class="keyword">typedef</span> void</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      (sig_cb_velodyne_hdl_scan_point_cloud_xyzi) (<span class="keyword">const</span> boost::shared_ptr&lt;const pcl::PointCloud&lt;pcl::PointXYZI&gt; &gt;&amp;,</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;                                                   <span class="keywordtype">float</span> startAngle,</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                                                   float);</div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#a3fd7b772010067a310711c1f8a6d4f4c">   88</a></span>&#160;      <span class="keyword">typedef</span> void</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      (sig_cb_velodyne_hdl_sweep_point_cloud_xyz) (<span class="keyword">const</span> boost::shared_ptr&lt;const pcl::PointCloud&lt;pcl::PointXYZ&gt; &gt;&amp;);</div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#a7e93804bfc62ccea27ddd924d852e530">   94</a></span>&#160;      <span class="keyword">typedef</span> void</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      (sig_cb_velodyne_hdl_sweep_point_cloud_xyzi) (<span class="keyword">const</span> boost::shared_ptr&lt;const pcl::PointCloud&lt;pcl::PointXYZI&gt; &gt;&amp;);</div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#ae4e55f23171427668205087ad341268e">  100</a></span>&#160;      <span class="keyword">typedef</span> void</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      (sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgb) (<span class="keyword">const</span> boost::shared_ptr&lt;const pcl::PointCloud&lt;pcl::PointXYZRGBA&gt; &gt;&amp;);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#a8e3354a2d10ce7173f44b41def867349">  107</a></span>&#160;      <a class="code" href="classpcl_1_1_h_d_l_grabber.html#a8e3354a2d10ce7173f44b41def867349">HDLGrabber</a> (<span class="keyword">const</span> std::string&amp; correctionsFile = <span class="stringliteral">&quot;&quot;</span>,</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                  <span class="keyword">const</span> std::string&amp; pcapFile = <span class="stringliteral">&quot;&quot;</span>);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#ab29155c3228e8a4b94bca0119a45e21c">  115</a></span>&#160;      <a class="code" href="classpcl_1_1_h_d_l_grabber.html#ab29155c3228e8a4b94bca0119a45e21c">HDLGrabber</a> (<span class="keyword">const</span> boost::asio::ip::address&amp; ipAddress,</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> port,</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                  <span class="keyword">const</span> std::string&amp; correctionsFile = <span class="stringliteral">&quot;&quot;</span>);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keyword">virtual</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#a0c9fffab98d085e29ae5009a87c517d7">  121</a></span>&#160;      <a class="code" href="classpcl_1_1_h_d_l_grabber.html#a0c9fffab98d085e29ae5009a87c517d7">~HDLGrabber</a> () throw ();</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      virtual <span class="keywordtype">void</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#a145844bdb735636685d772379a2a5cb5">  125</a></span>&#160;      start ();</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      virtual <span class="keywordtype">void</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#af0c48e002e0944bc617c8f27ecade78b">  129</a></span>&#160;      stop ();</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      virtual std::<span class="keywordtype">string</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#a1ea64070b784fb0ca273efae64715a92">  135</a></span>&#160;      getName () const;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      virtual <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#afb9ccf2d065ff1a29ac771cd83102e0d">  141</a></span>&#160;      isRunning () const;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      virtual <span class="keywordtype">float</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#a188d066177fd7532d42eb58ad08286ec">  146</a></span>&#160;      getFramesPerSecond () const;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#a942a3793e9c945569f189c0583c39915">  152</a></span>&#160;      filterPackets (const boost::asio::ip::address&amp; ipAddress,</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                     const <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> port = 443);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#ac623f4f4c0e68544554ef7b27bc12ceb">  158</a></span>&#160;      setLaserColorRGB (const pcl::<a class="code" href="structpcl_1_1_r_g_b.html">RGB</a>&amp; color,</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> laserNumber);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#a0dfc101a1e4a00b59eb3f1a6aceb3b8e">  166</a></span>&#160;      setMinimumDistanceThreshold (<span class="keywordtype">float</span> &amp; minThreshold);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#a60700e0698892916017cadd4405a98f9">  173</a></span>&#160;      setMaximumDistanceThreshold (<span class="keywordtype">float</span> &amp; maxThreshold);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#a75942fcddacd12ff86bfcd3cc18563c8">  179</a></span>&#160;      getMinimumDistanceThreshold ();</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1_h_d_l_grabber.html#a77d5ef4ea8ca624dff3754a1757eefe2">  184</a></span>&#160;      getMaximumDistanceThreshold ();</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    protected:</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      static const <span class="keywordtype">int</span> HDL_DATA_PORT = 2368;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      static const <span class="keywordtype">int</span> HDL_NUM_ROT_ANGLES = 36001;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      static const <span class="keywordtype">int</span> HDL_LASER_PER_FIRING = 32;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      static const <span class="keywordtype">int</span> HDL_MAX_NUM_LASERS = 64;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      static const <span class="keywordtype">int</span> HDL_FIRING_PER_PKT = 12;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      enum HDLBlock</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        BLOCK_0_TO_31 = 0xeeff, BLOCK_32_TO_63 = 0xddff</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      };</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;<span class="preprocessor">#pragma pack(push, 1)</span></div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="structpcl_1_1_h_d_l_grabber_1_1_h_d_l_laser_return.html">  199</a></span>&#160;      <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structpcl_1_1_h_d_l_grabber_1_1_h_d_l_laser_return.html">HDLLaserReturn</a></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      {</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> distance;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> intensity;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      } <a class="code" href="structpcl_1_1_h_d_l_grabber_1_1_h_d_l_laser_return.html">HDLLaserReturn</a>;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="preprocessor">#pragma pack(pop)</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="structpcl_1_1_h_d_l_grabber_1_1_h_d_l_firing_data.html">  206</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_h_d_l_grabber_1_1_h_d_l_firing_data.html">HDLFiringData</a></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      {</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> blockIdentifier;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> rotationalPosition;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;          <a class="code" href="structpcl_1_1_h_d_l_grabber_1_1_h_d_l_laser_return.html">HDLLaserReturn</a> laserReturns[HDL_LASER_PER_FIRING];</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      };</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="structpcl_1_1_h_d_l_grabber_1_1_h_d_l_data_packet.html">  213</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_h_d_l_grabber_1_1_h_d_l_data_packet.html">HDLDataPacket</a></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      {</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;          <a class="code" href="structpcl_1_1_h_d_l_grabber_1_1_h_d_l_firing_data.html">HDLFiringData</a> firingData[HDL_FIRING_PER_PKT];</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> gpsTimestamp;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> mode;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> sensorType;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      };</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno"><a class="line" href="structpcl_1_1_h_d_l_grabber_1_1_h_d_l_laser_correction.html">  221</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_h_d_l_grabber_1_1_h_d_l_laser_correction.html">HDLLaserCorrection</a></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;          <span class="keywordtype">double</span> azimuthCorrection;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;          <span class="keywordtype">double</span> verticalCorrection;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;          <span class="keywordtype">double</span> distanceCorrection;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;          <span class="keywordtype">double</span> verticalOffsetCorrection;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;          <span class="keywordtype">double</span> horizontalOffsetCorrection;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;          <span class="keywordtype">double</span> sinVertCorrection;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;          <span class="keywordtype">double</span> cosVertCorrection;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;          <span class="keywordtype">double</span> sinVertOffsetCorrection;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;          <span class="keywordtype">double</span> cosVertOffsetCorrection;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      };</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <a class="code" href="structpcl_1_1_h_d_l_grabber_1_1_h_d_l_laser_correction.html">HDLLaserCorrection</a> laser_corrections_[HDL_MAX_NUM_LASERS];</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> last_azimuth_;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      boost::shared_ptr&lt;pcl::PointCloud&lt;pcl::PointXYZ&gt; &gt; current_scan_xyz_, current_sweep_xyz_;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      boost::shared_ptr&lt;pcl::PointCloud&lt;pcl::PointXYZI&gt; &gt; current_scan_xyzi_, current_sweep_xyzi_;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      boost::shared_ptr&lt;pcl::PointCloud&lt;pcl::PointXYZRGBA&gt; &gt; current_scan_xyzrgb_, current_sweep_xyzrgb_;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      boost::signals2::signal&lt;sig_cb_velodyne_hdl_sweep_point_cloud_xyz&gt;* sweep_xyz_signal_;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      boost::signals2::signal&lt;sig_cb_velodyne_hdl_sweep_point_cloud_xyzrgb&gt;* sweep_xyzrgb_signal_;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      boost::signals2::signal&lt;sig_cb_velodyne_hdl_sweep_point_cloud_xyzi&gt;* sweep_xyzi_signal_;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      boost::signals2::signal&lt;sig_cb_velodyne_hdl_scan_point_cloud_xyz&gt;* scan_xyz_signal_;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      boost::signals2::signal&lt;sig_cb_velodyne_hdl_scan_point_cloud_xyzrgb&gt;* scan_xyzrgb_signal_;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      boost::signals2::signal&lt;sig_cb_velodyne_hdl_scan_point_cloud_xyzi&gt;* scan_xyzi_signal_;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      fireCurrentSweep ();</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      fireCurrentScan (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> startAngle,</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;                       <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> endAngle);</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      computeXYZI (<a class="code" href="structpcl_1_1_point_x_y_z_i.html">pcl::PointXYZI</a>&amp; pointXYZI,</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;                   <span class="keywordtype">int</span> azimuth,</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;                   <a class="code" href="structpcl_1_1_h_d_l_grabber_1_1_h_d_l_laser_return.html">HDLLaserReturn</a> laserReturn,</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;                   <a class="code" href="structpcl_1_1_h_d_l_grabber_1_1_h_d_l_laser_correction.html">HDLLaserCorrection</a> correction);</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">double</span> *cos_lookup_table_;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">double</span> *sin_lookup_table_;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      <a class="code" href="classpcl_1_1_synchronized_queue.html">pcl::SynchronizedQueue&lt;unsigned char *&gt;</a> hdl_data_;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      boost::asio::ip::udp::endpoint udp_listener_endpoint_;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      boost::asio::ip::address source_address_filter_;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> source_port_filter_;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      boost::asio::io_service hdl_read_socket_service_;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      boost::asio::ip::udp::socket *hdl_read_socket_;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      std::string pcap_file_name_;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      boost::thread *queue_consumer_thread_;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      boost::thread *hdl_read_packet_thread_;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      <span class="keywordtype">bool</span> terminate_read_packet_thread_;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      <a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> laser_rgb_mapping_[HDL_MAX_NUM_LASERS];</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      <span class="keywordtype">float</span> min_distance_threshold_;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      <span class="keywordtype">float</span> max_distance_threshold_;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      toPointClouds (<a class="code" href="structpcl_1_1_h_d_l_grabber_1_1_h_d_l_data_packet.html">HDLDataPacket</a> *dataPacket);</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      <span class="keyword">virtual</span> boost::asio::ip::address</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      getDefaultNetworkAddress ();</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      initialize (<span class="keyword">const</span> std::string&amp; correctionsFile = <span class="stringliteral">&quot;&quot;</span>);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      processVelodynePackets ();</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      enqueueHDLPacket (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *data,</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                        std::size_t bytesReceived);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      loadCorrectionsFile (<span class="keyword">const</span> std::string&amp; correctionsFile);</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      loadHDL32Corrections ();</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      readPacketsFromSocket ();</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;<span class="preprocessor">#ifdef HAVE_PCAP</span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      readPacketsFromPcap();</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="preprocessor">#endif </span><span class="comment">//#ifdef HAVE_PCAP</span></div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      isAddressUnspecified (<span class="keyword">const</span> boost::asio::ip::address&amp; ip_address);</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  };</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;}</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_IO_HDL_GRABBER_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_grabber_html"><div class="ttname"><a href="classpcl_1_1_grabber.html">pcl::Grabber</a></div><div class="ttdoc">Grabber interface for PCL 1.x device drivers</div><div class="ttdef"><b>Definition:</b> grabber.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1_h_d_l_grabber_html"><div class="ttname"><a href="classpcl_1_1_h_d_l_grabber.html">pcl::HDLGrabber</a></div><div class="ttdoc">Grabber for the Velodyne High-Definition-Laser (HDL)</div><div class="ttdef"><b>Definition:</b> hdl_grabber.h:61</div></div>
<div class="ttc" id="aclasspcl_1_1_h_d_l_grabber_html_a0c9fffab98d085e29ae5009a87c517d7"><div class="ttname"><a href="classpcl_1_1_h_d_l_grabber.html#a0c9fffab98d085e29ae5009a87c517d7">pcl::HDLGrabber::~HDLGrabber</a></div><div class="ttdeci">virtual ~HDLGrabber()</div><div class="ttdoc">virtual Destructor inherited from the Grabber interface. It never throws.</div></div>
<div class="ttc" id="aclasspcl_1_1_h_d_l_grabber_html_a8e3354a2d10ce7173f44b41def867349"><div class="ttname"><a href="classpcl_1_1_h_d_l_grabber.html#a8e3354a2d10ce7173f44b41def867349">pcl::HDLGrabber::HDLGrabber</a></div><div class="ttdeci">HDLGrabber(const std::string &amp;correctionsFile=&quot;&quot;, const std::string &amp;pcapFile=&quot;&quot;)</div><div class="ttdoc">Constructor taking an optional path to an HDL corrections file. The Grabber will listen on the defaul...</div></div>
<div class="ttc" id="aclasspcl_1_1_h_d_l_grabber_html_ab29155c3228e8a4b94bca0119a45e21c"><div class="ttname"><a href="classpcl_1_1_h_d_l_grabber.html#ab29155c3228e8a4b94bca0119a45e21c">pcl::HDLGrabber::HDLGrabber</a></div><div class="ttdeci">HDLGrabber(const boost::asio::ip::address &amp;ipAddress, const unsigned short port, const std::string &amp;correctionsFile=&quot;&quot;)</div><div class="ttdoc">Constructor taking a pecified IP/port and an optional path to an HDL corrections file.</div></div>
<div class="ttc" id="aclasspcl_1_1_synchronized_queue_html"><div class="ttname"><a href="classpcl_1_1_synchronized_queue.html">pcl::SynchronizedQueue&lt; unsigned char * &gt;</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_h_d_l_grabber_1_1_h_d_l_data_packet_html"><div class="ttname"><a href="structpcl_1_1_h_d_l_grabber_1_1_h_d_l_data_packet.html">pcl::HDLGrabber::HDLDataPacket</a></div><div class="ttdef"><b>Definition:</b> hdl_grabber.h:214</div></div>
<div class="ttc" id="astructpcl_1_1_h_d_l_grabber_1_1_h_d_l_firing_data_html"><div class="ttname"><a href="structpcl_1_1_h_d_l_grabber_1_1_h_d_l_firing_data.html">pcl::HDLGrabber::HDLFiringData</a></div><div class="ttdef"><b>Definition:</b> hdl_grabber.h:207</div></div>
<div class="ttc" id="astructpcl_1_1_h_d_l_grabber_1_1_h_d_l_laser_correction_html"><div class="ttname"><a href="structpcl_1_1_h_d_l_grabber_1_1_h_d_l_laser_correction.html">pcl::HDLGrabber::HDLLaserCorrection</a></div><div class="ttdef"><b>Definition:</b> hdl_grabber.h:222</div></div>
<div class="ttc" id="astructpcl_1_1_h_d_l_grabber_1_1_h_d_l_laser_return_html"><div class="ttname"><a href="structpcl_1_1_h_d_l_grabber_1_1_h_d_l_laser_return.html">pcl::HDLGrabber::HDLLaserReturn</a></div><div class="ttdef"><b>Definition:</b> hdl_grabber.h:200</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_i_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_i.html">pcl::PointXYZI</a></div><div class="ttdef"><b>Definition:</b> point_types.hpp:452</div></div>
<div class="ttc" id="astructpcl_1_1_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_r_g_b.html">pcl::RGB</a></div><div class="ttdoc">A structure representing RGB color information.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:334</div></div>
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